• The Transactions of the Korean Institute of Power Electronics
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• v.23 no.5
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• pp.305-312
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• 2018

DC distribution systems has recently taken the spotlight. Concerns over human safety and stability facility are raised in DC distribution systems. Std. IEC 60479 provides basic guidance on "the effects of shock current on human beings and livestock" for use in the establishment of electrical safety requirements and suggests an electrical impedance of the human body. This study analyzes impedance spectrums based on the electrical equivalent impedance circuit for the human body; human body impedances measured by experiments are analyzed below the fundamental frequency (60 Hz). The analysis shows that the equivalent impedance circuit for the human body should be modified at least in low-frequency range below the fundamental frequency (60 Hz). The DC residual current detection method that can classify electric shock accidents of humans and electric leakages of facilities is proposed by applying the analysis result. The detection method is verified by experiments on livestock.

• The Transactions of the Korean Institute of Power Electronics
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• v.21 no.3
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• pp.254-259
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• 2016

Recently, DC distribution systems have become a hot issue because of the increase in digital loads and DC generation systems according to the expansion of renewable energy technologies. To obtain the practical usage of DC electricity, safety should be guaranteed. The main concerns for safety are twofold: one side is human protection against electric shocks, and the other is facility protection from short faults. "Effects of current on human beings and livestock" (IEC 60479) defines a human body impedance model in electric shock conditions that consists of resistive components and capacitive components. Although the human body impedance model properly works in AC electricity, it does not well match with the electric shock behavior in DC electricity. In this study, the contradiction of the human body impedance model defined by IEC 60479 in case of DC electricity is shown through experiments for the human body. From the analysis of experimental results, a novel unified human body impedance model in electric shock conditions is proposed. This model consists of resistive components, capacitive components, and an inductance component. The proposed human impedance model matches well for AC and DC electricity environments in simulation and experiment.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.5
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• pp.257-263
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• 2000

One of the basic assumptions in the static gait design for a walking robot is that the weight of leg should be negligible compared to that of body, so that the total gravity center is not affected by swing of a leg. Based on the ideal assumption of zero leg-weight, conventional static gait has been simply designed for the gravity center of body to be inside the support polygon, consisting of each support leg's tip position. In case that the weight of leg is relatively heavy, however, while the gravity center of body is kept inside the support polygon, the total gravity center of walking robot can be out of the polygon due to weight of a swinging leg, which causes instability in walking. Thus, it is necessary in the static gait design of a real robot a compensation scheme for the fluctuation in the gravity center. In this paper, a body impedance control is proposed to obtain the total gravity center based on foot forces measured from load cells of a real walking robot and to adjust its position to track the pre-designed trajectory of the corresponding ideal robot's body center. Therefore, the walking stability is secured even in case that the weight of leg has serious influence on the total gravity center of robot.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1289-1292
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• 1997

Typical biomechanical system such as human body and mammals possess abundant muscles which are more than required for motion generation of such systems. We have shown that the excess number of muscles play important roles in spring-like impedance modulation. redundant kinematic structure, which is another feature of biomechanical systems, allows modulations of inertia and damping properties of such systems. In this work, we propose a frequency modulation algorithm which combines the spring-like impedance with inertia impedance. also, a load distribution method for frequency modulation is also introduced. The frequency modulation represents a simulataneous control of force and kinematic redundancies, which has not been addressed in the literature.

• Journal of Sensor Science and Technology
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• v.23 no.6
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• pp.368-376
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• 2014

In order to measure the segmental impedance of the body, a bioelectrical impedance measurement system (BIMS) using multi-frequency applying method and two-electrode method was implemented in this study. The BIMS was composed of constant current source, automatic gain control, and multi-frequency generation units. Three experiments were performed using the BIMS and a commercial impedance analyzer (CIA). First, in order to evaluate the performance of the BIMS, four RC circuits connected with a resistor and capacitor in serial and/or parallel were composed. Bioelectrical impedance (BI) was measured by applying multi-frequencies -5, 10, 50, 100, 150, 200, 300, 400, and 500 KHz - to each circuit. BI values measured by the BIMS were in good agreement with those obtained by the CIA for four RC circuits. Second, after measuring BI at each frequency by applying multi-frequency to the left and right forearm and the popliteal region of the body, BI values measured by the BIMS were compared to those acquired by the CIA. Third, when the distance between electrodes was changed to 1, 3, 5, 7, 9, 11, 13, and 15 cm, BI by the BIMS was also compared to BI from the CIA. In addition, BI of extracellular fluid (ECF) was measured at each frequency ranging from 10 to 500 KHz. BI of intracellular fluid (ICF) was calculated by subtracting BI of ECF measured at 500 kHZ from BI measured at seven frequencies ranging from 50 to 500 KHz. BI of ICF and ECF decreased as the frequency increased. BI of ICF sharply decreased at frequencies above 300 KHz.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.601-605
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• 2007

In this paper, we propose a simple and relative electrode contact monitoring method. By exploiting the power line interference, which is regarded as one of the worst noise sources for bio-potential measurement, the relative difference in electrode impedance can be measured without a current or voltage source. Substantial benefits, including no extra circuit components, no degradation of the body potential driving circuit, and no electrical safety problem, can be achieved using this method. Furthermore, this method can be applied to multi-channel isolated bio-potential measurement systems and home health care devices under a steady measuring environment.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1977-1978
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• 2008

In this paper, we compare performance of common-mode rejection between a differential and a non-differential amplifier system with two electrodes. A differential amplifier system is constant for common-mode rejection ratio(CMRR) on the frequency domain. But a non-differential amplifier's CMRR is determined by $Z_{FB}/Z_e$ ($Z_{FB}$ ; feedback impedance, $Z_e$; electrode impedance). There is trade-off between a non-differential amplifier's CMRR and its differential input impedance. And a non-differential amplifier system has some advantages for a bio-potential measurement with two electrodes because a designer can control the impedance between the body and system's common.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.6
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• pp.667-673
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• 2010

This paper proposes a control method based on a pseudo-impedance model to control the motion of biped robots walking on an uneven surface. The pseudo-impedance model simulates the action of the ankle of a foot landing on the ground when a human walks. When the foot is in contact with the ground, the human ankle goes through two different phases. In the first phase, the human exerts little or no effort and applies no torque on the ankle so that the orientation of the foot is effortlessly and passively adjusted with respect to the ground. In the second phase of landing, the ankle generates a significant amount of torque in order to rotate and move the main part of the human body forward and to support the weight of the human; this phase is called the weight acceptance phase. Computer simulations of a 12-DOF biped robot with a 6-DOF environment model were performed to determine the effectiveness of the proposed pseudo-impedance control. The simulation results show that stable locomotion can be achieved on an irregular surface by using the proposed model.

• Journal of Korea Society of Industrial Information Systems
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• v.18 no.6
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• pp.9-16
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• 2013

Bio-impedance measurement system(BMS) is non-invasive and easy to implement a measurement method that allows determining the water content of a patient. The measurement conditions, the hardware specifications and the configurations of BMS devices must be well chosen in order to get correct and reproducible results. BMS was then conducted for the limbs and the thoracic using a lock-in amplifier and LabView control system with a frequency range of 1kHz-100kHz. From both the measurement data and the simulation results, we verified that the parameters in the proposed equivalent model and the trend of impedance variation according to the multi-frequency of applied current source are similar to those of human body. We believe that the real-time BMS developed in this study is highly reliable and applicable to the research on the clinical characteristics of the human being's impedance.

• International Journal of Control, Automation, and Systems
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• v.6 no.4
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• pp.613-619
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• 2008

A method to produce a desired current pattern in a multiple-source EIT system using voltage sources is presented. Application of current patterns to a body is known to be superior to the application of voltage patterns in terms of high spatial frequency noise suppression, resulting in high accuracy in conductivity and permittivity images. Since current sources are difficult and expensive to build, the use of voltage sources to apply the current pattern is desirable. An iterative algorithm presented in this paper generates the necessary voltage pattern that will produce the desired current pattern. The convergence of the algorithm is shown under the condition that the estimation error of the linear mapping matrix from voltage to current is small. Simulation results are presented to illustrate the convergence of the output current.